The Research And Design For Transplanter Automatic Navigation System

Automatic navigation technology of agricultural has become increasingly matured.These agricultural navigation products have brought huge economic benefits for many farm families.It’s widely used in cutting,fertilization,spraying and so on.The navigation system is conducive to improve the accuracy and efficiency of field operations,and also reduce the labor costs.However,most these navigation products are used on dryland tractors,very few navigation products used on paddy tractors.Many scholars have made great progress in the research on the automatic navigation system of transplanter,but there are also some problems exist.Its steering actuator can only be installed on one type transplanter;in addition,the research on the path planning control technology of the automatic navigation system has made breakthroughs,but the related research progress is still not good enough.At this stage,the path planning in the agricultural navigation still stays in the line tracking and plan a best path to turn around.In order to realize the autonomous navigation control of transplanter under paddy field environment,the paper developed the automatic navigation system for transplanter.This paper focus on the improving of the versatility of steering actuators,and automatic navigation path planning.The main research contents are as follows:(1)The design for the electronic steering wheel.The structure of the compact electronic steering wheel was designed base on the features of transplanter.A general installation method is proposed to make sure the steering wheel can be installed and used on a variety of transplanter models.The designing process of the compact electronic steering wheel includes the choice of transmission method,various parameters’ calculation and its strength checking.The prototype of steering wheel is not produced,so the John Deere AutoTrac automatic navigation system was been installed on the transplanter by the installation method was mentioned above.The test were be held in South and North,the effect and stability of the automatic navigation transplanter was better than that of manual driving.The average absolute horizontal deviation of the linear navigation was 2.6 cm and the standard deviation was 1.75 cm base on the navigation system.The test results show that the navigation system works well and the installation method does not affect navigation accuracy of the navigation system.(3)Study on path planning control of navigation system.A navigation path planning method based on rotating coordinate system is proposed for paddy field work.This method can optimiz the rice transplanter heading control and navigation path performance.At present,the automatic operation system of the rice transplanter is not yet completed.Therefore,field trials are conducted to evaluate the method was proposed before based on the AutoTrac automatic navigation system.The experimental results show that the average absolute deviation of the trajectory of the transplanter is 2.52 cm,the standard deviation is 3.88 cm,and the maximum lateral deviation is 13.74 cm.